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Consolidated Statements of Shareholders' Equity (Unaudited) (Parenthetical) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Statement of Stockholders' Equity [Abstract]        
Dividends (in dollars per share) $ 0.40 $ 0.38 $ 0.80 $ 0.76